两轮平衡小车程序
包括MPU6050数据读取、三种角度滤波方式（一阶互补滤波，卡尔曼滤波，四元数解算） 暂时只包含直立环与速度环 红外按键调参 0.96寸OLED屏幕显示 双路电机驱动，双路编码器读取
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